By Topic

Geometric phases, anholonomy, and optimal movement

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
P. S. Krishnaprasad ; Dept. of Electr. Eng., Maryland Univ., College Park, MD, USA ; R. Yang

In the search for useful strategies for movement of robotic systems (e.g., manipulators, platforms) in constrained environments (e.g., in space, underwater), there appear to be new principles emerging from a deeper geometric understanding of optimal movements of nonholonomically constrained systems. The authors have exploited some new formulas for geometric phase shifts to derive effective control strategies. The theory of connections in principal bundles provides the proper framework for questions of the type addressed. An outline is presented of the essentials of this theory. A related optimal control problem and its localizations are also considered

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991